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If it's oxidized and turned to a yellow powder on the chassis then I think it's more toxic.
In those cases I wear rubber gloves and a mask while cleaning it up, I usually resort to Rustoleum Jelly to remove it, it takes it down to the bare steel which can rust so painting it afterwards is usually required.
If it's just dirty and dusty then a mild cleaner is good.
The chassis in the picture you posted actually looks really good, I'd stick to minimum cleaning on that one.
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